dc.contributor.author | Bitar, Glenn Ivan | |
dc.contributor.author | Vestad, Vegard Nitter | |
dc.contributor.author | Lekkas, Anastasios M. | |
dc.contributor.author | Breivik, Morten | |
dc.date.accessioned | 2020-02-19T07:54:39Z | |
dc.date.available | 2020-02-19T07:54:39Z | |
dc.date.created | 2020-02-17T11:28:03Z | |
dc.date.issued | 2019 | |
dc.identifier.citation | IFAC-PapersOnLine. 2019, 52 (21), 308-314. | nb_NO |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://hdl.handle.net/11250/2642443 | |
dc.description.abstract | We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, and an optimal control-based trajectory planner. A nonlinear 3-degree-of-freedom underactuated model of an ASV is considered, along with an objective functional that promotes energy-efficient and readily observable maneuvers. The A* algorithm is guaranteed to find the shortest piecewise linear path to the goal position based on a uniformly decomposed map. Dynamic information is constructed and added to the A*-generated path, and provides an initial guess for warm starting the optimal control-based planner. The run time for the optimal control planner is greatly reduced by this initial guess and outputs a dynamically feasible and locally optimal trajectory. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | International Federation of Automatic Control (IFAC) | nb_NO |
dc.relation.uri | https://www.sciencedirect.com/science/article/pii/S2405896319322104 | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Warm-Started Optimized Trajectory Planning for ASVs | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | publishedVersion | nb_NO |
dc.source.pagenumber | 308-314 | nb_NO |
dc.source.volume | 52 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 21 | nb_NO |
dc.identifier.doi | 10.1016/j.ifacol.2019.12.325 | |
dc.identifier.cristin | 1794657 | |
dc.relation.project | Norges forskningsråd: 269116 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. Under a Creative Commons CC-BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/). | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |